Basic support for GigE cameras via Aravis SDK

CMakeLists.txt

@@ -197,6 +197,7 @@ OCV_OPTION(WITH_PNG            "Include PNG support"                         ON)
 OCV_OPTION(WITH_GDCM           "Include DICOM support"                       OFF)
 OCV_OPTION(WITH_PVAPI          "Include Prosilica GigE support"              OFF   IF (NOT ANDROID AND NOT IOS AND NOT WINRT) )
 OCV_OPTION(WITH_GIGEAPI        "Include Smartek GigE support"                OFF   IF (NOT ANDROID AND NOT IOS AND NOT WINRT) )
+OCV_OPTION(WITH_ARAVIS         "Include Aravis GigE support"                 OFF   IF (NOT ANDROID AND NOT IOS AND NOT WINRT AND NOT WIN32) )
 OCV_OPTION(WITH_QT             "Build with Qt Backend support"               OFF  IF (NOT ANDROID AND NOT IOS AND NOT WINRT) )
 OCV_OPTION(WITH_WIN32UI        "Build with Win32 UI Backend support"         ON   IF WIN32 AND NOT WINRT)
 OCV_OPTION(WITH_QUICKTIME      "Use QuickTime for Video I/O"                 OFF  IF APPLE )
@@ -1111,7 +1112,7 @@ if(DEFINED WITH_OPENNI)
 endif(DEFINED WITH_OPENNI)
 
 if(DEFINED WITH_OPENNI2)
-  status("    OpenNI2:"		   HAVE_OPENNI2	   THEN "YES (ver ${OPENNI2_VERSION_STRING}, build ${OPENNI2_VERSION_BUILD})"
+  status("    OpenNI2:"        HAVE_OPENNI2    THEN "YES (ver ${OPENNI2_VERSION_STRING}, build ${OPENNI2_VERSION_BUILD})"
                                                                                                    ELSE NO)
 endif(DEFINED WITH_OPENNI2)
 
@@ -1123,6 +1124,10 @@ if(DEFINED WITH_GIGEAPI)
   status("    GigEVisionSDK:"  HAVE_GIGE_API       THEN YES                                        ELSE NO)
 endif(DEFINED WITH_GIGEAPI)
 
+if(DEFINED WITH_ARAVIS)
+  status("    Aravis SDK:"     HAVE_ARAVIS_API     THEN YES                                        ELSE NO)
+endif(DEFINED WITH_ARAVIS)
+
 if(DEFINED APPLE)
   status("    AVFoundation:"   HAVE_AVFOUNDATION   THEN YES                                        ELSE NO)
   if(WITH_QUICKTIME OR HAVE_QUICKTIME)

cmake/OpenCVFindLibsVideo.cmake

@@ -124,6 +124,19 @@ if(WITH_GIGEAPI)
   endif()
 endif(WITH_GIGEAPI)
 
+# --- Aravis SDK ---
+ocv_clear_vars(HAVE_ARAVIS_API)
+if(WITH_ARAVIS)
+  find_path(ARAVIS_INCLUDE_PATH "arv.h"
+            PATHS /usr/local /var /opt /usr ENV ProgramFiles ENV ProgramW6432
+            PATH_SUFFIXES include "aravis-0.6"
+            DOC "The path to Aravis SDK headers")
+  find_library(ARAVIS_LIBRARIES "aravis-0.6")
+  if(ARAVIS_LIBRARIES AND ARAVIS_INCLUDE_PATH)
+    set(HAVE_ARAVIS_API TRUE)
+  endif()
+endif(WITH_ARAVIS)
+
 # --- Dc1394 ---
 ocv_clear_vars(HAVE_DC1394 HAVE_DC1394_2)
 if(WITH_1394)

modules/videoio/CMakeLists.txt

@@ -167,6 +167,14 @@ if(HAVE_GIGE_API)
   list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_giganetix.cpp)
 endif(HAVE_GIGE_API)
 
+if(HAVE_ARAVIS_API)
+  add_definitions(-DHAVE_ARAVIS_API)
+  ocv_include_directories(${ARAVIS_INCLUDE_PATH})
+  set(videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_aravis.cpp ${videoio_srcs})
+  list(APPEND VIDEOIO_LIBRARIES ${ARAVIS_LIBRARIES})
+  list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_aravis.cpp)
+endif(HAVE_ARAVIS_API)
+
 if(HAVE_AVFOUNDATION)
   if(IOS)
     list(APPEND videoio_srcs ${CMAKE_CURRENT_LIST_DIR}/src/cap_avfoundation.mm)

modules/videoio/include/opencv2/videoio/videoio_c.h

@@ -116,6 +116,8 @@ enum
 
     CV_CAP_GIGANETIX = 1300,  // Smartek Giganetix GigEVisionSDK
 
+    CV_CAP_ARAVIS = 1400,    // Aravis GigE SDK
+
     CV_CAP_INTELPERC = 1500, // Intel Perceptual Computing
 
     CV_CAP_OPENNI2 = 1600,   // OpenNI2 (for Kinect)

modules/videoio/src/cap.cpp

@@ -273,6 +273,12 @@ CV_IMPL CvCapture * cvCreateCameraCapture (int index)
 #endif
     }
 
+#ifdef HAVE_ARAVIS_API
+    case CV_CAP_ARAVIS:
+        TRY_OPEN(capture, cvCreateCameraCapture_Aravis(index))
+        if (pref) break;
+#endif
+
     return capture;
 }
 

modules/videoio/src/cap_aravis.cpp

+////////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//
+
+//
+// The code has been contributed by Arkadiusz Raj on 2016 Oct
+//
+
+#include "precomp.hpp"
+
+#ifdef HAVE_ARAVIS_API
+
+#include <arv.h>
+
+/********************* Capturing video from camera via Aravis *********************/
+
+class CvCaptureCAM_Aravis : public CvCapture
+{
+public:
+    CvCaptureCAM_Aravis();
+    virtual ~CvCaptureCAM_Aravis()
+    {
+        close();
+    }
+
+    virtual bool open(int);
+    virtual void close();
+    virtual double getProperty(int) const;
+    virtual bool setProperty(int, double);
+    virtual bool grabFrame();
+    virtual IplImage* retrieveFrame(int);
+    virtual int getCaptureDomain()
+    {
+        return CV_CAP_ARAVIS;
+    }
+
+protected:
+    bool create(int);
+    bool init();
+
+    void stopCapture();
+    bool startCapture();
+
+    bool getDeviceNameById(int id, std::string &device);
+
+    ArvCamera       *camera;                // Camera to control.
+    ArvStream       *stream;                // Object for video stream reception.
+    void            *framebuffer;           //
+
+    unsigned int    payload;                // Width x height x Pixel width.
+
+    int             widthMin;               // Camera sensor minium width.
+    int             widthMax;               // Camera sensor maximum width.
+    int             heightMin;              // Camera sensor minium height.
+    int             heightMax;              // Camera sensor maximum height.
+    double          fpsMin;                 // Camera minium fps.
+    double          fpsMax;                 // Camera maximum fps.
+    double          gainMin;                // Camera minimum gain.
+    double          gainMax;                // Camera maximum gain.
+    double          exposureMin;            // Camera's minimum exposure time.
+    double          exposureMax;            // Camera's maximum exposure time.
+
+    int             num_buffers;            // number of payload transmission buffers
+
+    IplImage *frame;
+};
+
+
+CvCaptureCAM_Aravis::CvCaptureCAM_Aravis()
+{
+    camera = NULL;
+    stream = NULL;
+    framebuffer = NULL;
+
+    payload = 0;
+
+    widthMin = widthMax = heightMin = heightMax = 0;
+    fpsMin = fpsMax = gainMin = gainMax = exposureMin = exposureMax = 0;
+
+    num_buffers = 50;
+
+    frame = NULL;
+}
+
+void CvCaptureCAM_Aravis::close()
+{
+    stopCapture();
+}
+
+bool CvCaptureCAM_Aravis::getDeviceNameById(int id, std::string &device)
+{
+    arv_update_device_list();
+
+    int n_devices = arv_get_n_devices();
+
+    for(int i = 0; i< n_devices; i++){
+        if(id == i){
+            device = arv_get_device_id(i);
+            return true;
+        }
+    }
+
+    return false;
+}
+
+bool CvCaptureCAM_Aravis::create( int index )
+{
+    std::string deviceName;
+    if(!getDeviceNameById(index, deviceName))
+        return false;
+
+    return NULL != (camera = arv_camera_new(deviceName.c_str()));
+}
+
+bool CvCaptureCAM_Aravis::init()
+{
+    if( (stream = arv_camera_create_stream(camera, NULL, NULL)) ) {
+        g_object_set(stream,
+            "socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
+            "socket-buffer-size", 0, NULL);
+        g_object_set(stream,
+            "packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL);
+        g_object_set(stream,
+            "packet-timeout", (unsigned)40000,
+            "frame-retention", (unsigned) 200000, NULL);
+
+        for (int i = 0; i < num_buffers; i++)
+            arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
+
+        return true;
+    }
+
+    return false;
+}
+
+// Initialize camera input
+bool CvCaptureCAM_Aravis::open( int index )
+{
+    if( create( index) ) {
+        // fetch basic properties
+        payload = arv_camera_get_payload (camera);
+        arv_camera_get_width_bounds(camera, &widthMin, &widthMax);
+        arv_camera_get_height_bounds(camera, &heightMin, &heightMax);
+        arv_camera_get_frame_rate_bounds(camera, &fpsMin, &fpsMax);
+        arv_camera_get_gain_bounds (camera, &gainMin, &gainMax);
+        arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax);
+
+        // enforce mono 8 format
+        arv_camera_set_pixel_format(camera, ARV_PIXEL_FORMAT_MONO_8);
+
+        // init communication
+        init();
+
+        return startCapture();
+    }
+    return false;
+}
+
+bool CvCaptureCAM_Aravis::grabFrame()
+{
+    ArvBuffer *arv_buffer = arv_stream_timeout_pop_buffer(stream, 2000000); //us
+    if(arv_buffer != NULL) {
+        if(arv_buffer_get_status(arv_buffer) == ARV_BUFFER_STATUS_SUCCESS) {
+            size_t buffer_size;
+            framebuffer = (void*)arv_buffer_get_data (arv_buffer, &buffer_size);
+        }
+        arv_stream_push_buffer(stream, arv_buffer);
+        return true;
+    }
+    framebuffer = NULL;
+    return false;
+}
+
+IplImage* CvCaptureCAM_Aravis::retrieveFrame(int)
+{
+    if(framebuffer) {
+        IplImage src;
+        cvInitImageHeader( &src, cvSize( widthMax, heightMax ),
+                           IPL_DEPTH_8U, 1, IPL_ORIGIN_TL, 4 );
+
+        cvSetData( &src, framebuffer, src.widthStep );
+        if( !frame || frame->width != src.width || frame->height != src.height ) {
+            cvReleaseImage( &frame );
+            frame = cvCreateImage( cvGetSize(&src), 8, 1 );
+        }
+        cvCopy(&src, frame);
+
+        return frame;
+    }
+    return NULL;
+}
+
+double CvCaptureCAM_Aravis::getProperty( int property_id ) const
+{
+    switch ( property_id ) {
+        case CV_CAP_PROP_EXPOSURE:
+            return arv_camera_get_exposure_time(camera);
+
+        case CV_CAP_PROP_FPS:
+            return arv_camera_get_frame_rate(camera);
+
+        case CV_CAP_PROP_GAIN:
+            return arv_camera_get_gain(camera);
+    }
+    return -1.0;
+}
+
+bool CvCaptureCAM_Aravis::setProperty( int property_id, double value )
+{
+    switch ( property_id ) {
+        case CV_CAP_PROP_EXPOSURE:
+            arv_camera_set_exposure_time(camera, value);
+            break;
+
+        case CV_CAP_PROP_FPS:
+            arv_camera_set_frame_rate(camera, value);
+            break;
+
+        case CV_CAP_PROP_GAIN:
+            arv_camera_set_gain(camera, value);
+            break;
+    }
+    return -1.0 != getProperty( property_id );
+}
+
+void CvCaptureCAM_Aravis::stopCapture()
+{
+    arv_camera_stop_acquisition(camera);
+
+    g_object_unref(stream);
+    stream = NULL;
+
+    g_object_unref(camera);
+}
+
+bool CvCaptureCAM_Aravis::startCapture()
+{
+    arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
+    arv_device_set_string_feature_value(arv_camera_get_device (camera), "TriggerMode" , "Off");
+    arv_camera_start_acquisition(camera);
+
+    return true;
+}
+
+CvCapture* cvCreateCameraCapture_Aravis( int index )
+{
+    CvCaptureCAM_Aravis* capture = new CvCaptureCAM_Aravis;
+
+    if ( capture->open( index ))
+        return capture;
+
+    delete capture;
+    return NULL;
+}
+#endif